Name
Abstract | ||
|---|---|---|
Rendering stiff virtual objects remains a core challenge in the field of haptics. A study of this problem is presented, which relates the maximum achievable object stiffness to the elements of the control loop. In particular, we examine how the sampling rate and quantization of position measurements interact with the inertia, natural viscous, and Coulomb damping of the haptic device. The resulting stability criterion generalizes previously known conditions. Simulations and experimental results support the theoretical analysis based on the passivity and describing function approaches. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/WHC.2005.130 | WHC |
Keywords | Field | DocType |
maximum achievable object stiffness,haptic rendering,coulomb friction,resulting stability criterion,haptic device,natural viscous,function approach,position measurements interact,sampling rate,core challenge,control loop,friction,stability,sampling methods,quantization,virtual environment,virtual reality,bandwidth,describing function | Stability criterion,Describing function,Coulomb damping,Stiffness,Simulation,Control theory,Inertia,Engineering,Rendering (computer graphics),Quantization (signal processing),Haptic technology | Conference |
ISBN | Citations | PageRank |
0-7695-2310-2 | 27 | 2.62 |
References | Authors | |
8 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Nicola Diolaiti | 1 | 53 | 5.65 |
| G Niemeyer | 2 | 88 | 8.74 |
| Federico Barbagli | 3 | 561 | 48.21 |
| John Kenneth Salisbury Jr. | 4 | 1403 | 200.30 |
| Claudio Melchiorri | 5 | 779 | 88.97 |